https://knowrob.org/ 2026-04-14T15:41:56+00:00 https://knowrob.org/ https://knowrob.org/lib/tpl/prsnl10/images/favicon.ico text/html 2014-11-28T17:47:34+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/action_recipe_editor?rev=1417196854&do=diff Action recipe editor This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found here. The manual creation of an action recipe can be tedious task that is prone to errors like incorrect transition specifications or wrong action arguments. The graphical editor for action recipes is intended to speed up the creation… text/html 2021-02-18T08:16:38+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/best-practices?rev=1613636198&do=diff Best practices This page is to outline some best practices that have been developed while working with the KnowRob system. It is recommended to follow these guidelines to ensure interoperability and facilitate scaling to larger installations. Separate code and data text/html 2014-12-07T07:53:29+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/catkin_migration?rev=1417938809&do=diff Migrating to the catkinized version of KnowRob Starting from ROS hydro/indigo, KnowRob has switched to the catkin buildsystem and the 'new' rosjava. This page explains the steps that are needed for transforming packages that have been built for the old version to the new KnowRob. text/html 2015-11-25T08:50:00+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/chart_visualization?rev=1448441400&do=diff Chart visualization This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The older version, which was based on the rosbuild buildsystem and rosjava_jni, used a local visualization canvas implemented in Java. The chart visualization client listens to a given ROS topic for data_vis_msgs and displays them as a chart. Currently, donut charts and bar charts are supported. text/html 2014-11-28T12:44:21+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/common-sense_reasoning_about_object_locations?rev=1417178661&do=diff Commonsense knowledge about object locations This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found text/html 2014-12-07T08:57:38+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/coordinate_systems?rev=1417942658&do=diff Coordinate system representation Robots continuously have to deal with coordinate systems, and while specialized systems exist for managing coordinate transformations, there are several use cases in which also the knowledge base should be aware of the coordinate systems used for describing spatial information text/html 2019-10-30T13:14:16+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/create_and_load_a_semantic_map?rev=1572441256&do=diff Create and load a semantic map This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found here. text/html 2014-11-27T17:10:19+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/create_srdl_model?rev=1417108219&do=diff Create an SRDL model of your robot This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found text/html 2021-02-18T08:13:24+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/create_your_own_knowrob_package?rev=1613636004&do=diff Create your own KnowRob package If your application requires functionality beyond that one already provided by the standard KnowRob packages, you will need to create your own KnowRob package. The following description assumes that you would like to add knowledge in terms of OWL ontologies, or implement new Prolog predicates, or both. text/html 2014-11-26T21:00:53+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/defining_computables?rev=1417035653&do=diff Define computables This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found here. Computables serve for text/html 2020-03-09T13:55:25+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/docker?rev=1583762125&do=diff Setting up your own openEASE server This page collects information on the installation and usage of openEASE, a web-service based on Docker. Using Docker, we have created a cloud-based infrastructure for providing KnowRob as a service via the Web. You can follow the steps described here for any Ubuntu version that has docker independently of the Ubuntu version running inside of openEASE. text/html 2014-12-07T08:57:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/environment_map_meta_information?rev=1417942664&do=diff Meta-information about environment maps Robots sometimes face the problem how to represent which environment is described inside a map. In the context of the RoboEarth project, which dealt with the exchange of knowledge between robots, this was required to enable robots to query for a map based on a specification of which environment it describes. The following approach has been chosen in the RoboEarth context: text/html 2014-08-08T10:06:09+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/exchanging_information_via_roboearth?rev=1407492369&do=diff Exchange information via RoboEarth Note: The RoboEarth project has officially ended, and while the RoboEarth database will be kept running for a while, the code is currently unmaintained. Please use it at your own risk. This tutorial lists some example queries for interacting with the RoboEarth web-based robot knowledge base. To learn more about RoboEarth, have a look at the project text/html 2021-02-18T08:14:59+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/faq?rev=1613636099&do=diff FAQ How can I debug Prolog programs? There is a graphical debugger in SWI Prolog that is very useful to go through your program step by step, inspect the variable bindings and the open choice points. Which programming language should I use for what purpose? KnowRob is implemented in a combination of OWL, Prolog and Java. When creating extensions, it is worth considering which language to implement them in: text/html 2014-08-08T09:47:59+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/flow_chart_visualization?rev=1407491279&do=diff Flow chart visualization Note: This page describes experimental code that has not been used in a while. Please try it at your own risk. The flow chart visualizer allows to load SVG files and to define actions that are to be taken when the user clicks on the elements in the graphics. It is designed as a convenient way of showing processing pipelines and calling processing steps. All rectangular shapes can be turned into click-sensitive areas by defining (in a .yaml file accompanying the .sv… text/html 2024-09-10T11:53:21+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/getting_started?rev=1725969201&do=diff Getting started The following list is intended as a guideline how to get started using KnowRob. The first steps aim at getting an overview of what is available and how to use the existing modules. At some point, you will likely want to implement your own components, for which you will need a better understanding of the techniques used, such as OWL and Prolog. We will give some hints on how to go beyond the basic tutorials below. text/html 2014-11-25T14:29:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/handover-meeting-notes?rev=1416925787&do=diff Minutes of the "handover" meeting -- An overview of what's available in KnowRob Infrastructure Repositories All packages in all repositories are supposed to compile at any time in order not to break the build for anyone. If you plan longer-term changes that result in a broken state in between, please create a temporary branch or your own fork, but merge it back as soon as possible. text/html 2024-09-10T11:56:07+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/important_concepts?rev=1725969367&do=diff Important concepts This page describes some of the main concepts behind the KnowRob system. For an introductory paper, please have a look at KnowRob -- A Knowledge Processing Infrastructure for Cognition-enabled Robots (Moritz Tenorth, Michael Beetz), In International Journal of Robotics Research (IJRR), volume 32, 2013. Description Logics, Classes, Instances, OWL, Prolog text/html 2014-08-12T15:23:08+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/interact_with_knowrob_via_ros?rev=1407856988&do=diff Use KnowRob from your program This page describes the 'catkinized' version of KnowRob that has been converted to the catkin buildsystem and the new rosjava. The documentation for older versions can be found here. The interactive Prolog shell that rosprolog provides is good for exploring KnowRob, visualizing knowledge, developing new functions and debugging Prolog code. However, if you would like to use KnowRob in your robot's control program, you need a way to send queries from your progr… text/html 2021-02-18T09:25:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/knowrob_basics?rev=1613640346&do=diff KnowRob basics Installing and launching the system If you would just like to try KnowRob, you can use the binary packages, but if you would like to experiment more and adapt the packages, you should install the source distribution. Please refer to the text/html 2014-06-05T11:38:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/knowrob_taxonomy?rev=1401968327&do=diff Overview of the KnowRob upper ontology SpatialThing * Map of an environment * Point, a zero-dimensional thing with a location * Place a relevant place in the environment * Trajectory, e.g. of the arm or the robot base * SurfaceRegion, different sides like the front or the back of an object text/html 2020-07-22T13:32:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/knowrob2_migration?rev=1595424746&do=diff Migrating to KnowRob 2.0 This page is a work in progress The current master branch contains a redesign of KnowRob. The redesign changes the way how Knowrob has to be included into your project. Additionally some queries were replaced. Changes in the project dependencies and imports text/html 2014-08-08T09:47:21+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/labeling_tools?rev=1407491241&do=diff Labeling tool for human activity data This tool allows to annotate observations of human activity data by setting markers in a timeline that indicate the end of a segment. Marker can describe e.g. the types of actions, objects the observed subject has interacted with, etc. The program then generates annotations for the frames since the previous marker. The set of marker types as well as mappings to be used when exporting the annotations can be configured using YAML files. text/html 2014-11-25T08:30:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/loading_files_and_ros_packages?rev=1416904256&do=diff Loading files and ROS packages This page describes the 'catkinized' version of KnowRob that has been converted to the catkin buildsystem and the new rosjava. The documentation for older versions can be found here. There are different ways how OWL and Prolog files can be loaded. For testing purposes, it is common to manually load single files, while for deployment, one usually wants to set up a ROS package in such a way that all related files are automatically loaded. Both alternatives w… text/html 2015-10-19T15:07:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/marker_visualization?rev=1445267246&do=diff Marker-based visualization canvas This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The older version, which was based on the rosbuild buildsystem and rosjava_jni, used a local visualization canvas implemented in Java. Based on rviz Markers, this visualization module can display 3D information in a browser-based canvas that has been built using the text/html 2014-12-07T08:57:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/measurement_units?rev=1417942665&do=diff Representing units of measure This module provides functionality to describe and reason about units of measure attached to numerical values. Transparent conversion between compatible units (e.g. lengths, time intervals, etc) is provided as well as explicit conversion methods. Full backwards compatibility is ensured by treating values without units as being in the respective SI base units (which, by convention, was used so far). It is based on a large, standard text/html 2014-11-28T17:03:53+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/mesh_reasoning?rev=1417194233&do=diff Reasoning about geometric object models This module is currently under development and not publicly available. A publication describing this module has been presented at IROS 2013. Usage Start knowrob_mesh_reasoning rosmake knowrob_cad_models roscd knowrob_mesh_reasoning rosrun rosprolog rosprolog knowrob_mesh_reasoning text/html 2014-06-05T11:38:49+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/modeling_changing_objects?rev=1401968329&do=diff Modeling changing objects This page discusses methods for reasoning about the effects actions have on the objects they manipulate. Especially in cooking tasks, the induced changes can be significant: Objects can be created, destroyed, split in pieces, combined, etc. By combining the representation of actions with projection methods and linking the actions to the manipulated objects, KnowRob can reason about what happened to objects, predict what will happen, or plan such that certain things hap… text/html 2014-08-05T08:40:27+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/modeling_tasks_and_actions?rev=1407228027&do=diff Modeling tasks and actions This page describes how actions and tasks are modeled in KnowRob. There are two kinds of descriptions: general task descriptions and models of concrete, e.g. observed, actions. ABOX or TBOX? In KnowRob, Knowledge is modeled in text/html 2014-08-18T19:32:29+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/motion_constraints?rev=1408390349&do=diff Modeling and generating constraint-based movement descriptions This page contains supplemental material for the paper “[Knowledge-based Specification of Robot Motions]” at ECAI 2014. Software components The setup of the system consists of three main components: the KnowRob knowledge base, the CRAM plan-based executive, and the controllers for performing the motions. Here, we will give instructions how these components can be installed and set up correctly. text/html 2014-12-07T08:57:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/object_pose_representation?rev=1417942665&do=diff Object pose representation Information about the poses and dimensions of objects is crucial for finding and manipulating them. In KnowRob, object dimensions can either be described as simple bounding boxes or cylinders (specifying the height, and either width and depth or the radius), or by linking a 3D surface mesh model in the STL or Collada format. text/html 2015-02-12T19:41:33+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/openease?rev=1423770093&do=diff text/html 2014-11-28T13:19:25+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/plan_visualization?rev=1417180765&do=diff Visualization of task descriptions PlanVis is used to visualize planned actions of a robot. This visualization includes support of expanding actions and showing subactions. PlanVis is part of the mod_vis package. This package has not been updated to the catkin-based version of KnowRob. text/html 2021-02-15T14:21:41+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/pldoc_code_documentation?rev=1613398901&do=diff Source code documentation PLDOC is a source code documentation framework for SWI Prolog and used by KnowRob for the Prolog code base of KnowRob. Structured comments in the source code can be translated into HTML or LaTex. Please consult the official documentation about the concrete format supported. text/html 2014-12-07T08:30:32+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/plunit_testing?rev=1417941032&do=diff Unit testing with plunit The SWI Prolog unit testing library supports different ways of defining unit tests for your programs. It has been integrated into KnowRob to facilitate testing using commandline scripts. Defining tests While tests can also be defined inline in the same file, it is recommended to add a separate file with the unit tests. Those files have the same name as the Prolog file to be tested, but the extension '*.plt' instead of '*.pl'. Please have a look at the text/html 2014-06-05T11:38:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/reason_using_computables?rev=1401968327&do=diff Reasoning using computables Computables serve for computing relations during the reasoning process instead of asserting them manually. This can for instance be done by querying external sources of information, or by combining the information in the knowledge base in order to create new statements. When you wish to include answers generated by computables into the result set, you need to use text/html 2014-11-28T16:10:37+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/reasoning_about_actions?rev=1417191037&do=diff Reasoning about actions This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found here. Loading a task description text/html 2014-06-05T17:44:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/reasoning_about_logged_experiences?rev=1401990260&do=diff Reasoning about logged robot experiences This page lists methods and tools for reasoning about log data of robot tasks created using the CRAM logging infrastructure. These logs consist of two parts: High-level plan events are stored as action instances in an OWL file, while lower-level high-volume data is logged separately into a MongoDB database. This allows efficient recording and storage of data like tf poses, perception results etc. Special Prolog predicates allow to access the information … text/html 2016-04-19T08:11:10+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/reasoning_about_objects?rev=1461053470&do=diff Reasoning about objects This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found here. Before starting this tutorial, you should have completed the following ones: text/html 2016-04-27T13:54:18+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/reasoning_using_computables?rev=1461765258&do=diff Reason using computables This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found here. Computables serve for text/html 2014-12-07T09:33:58+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/repositories?rev=1417944838&do=diff A guide to the KnowRob repositories The KnowRob ecosystem consists of several repositories, the role of each of which is outlined below: * knowrob: Core stack, try to keep this as generic as possible (while it is a bit overfit to household scenarios for historical reasons, it should mostly contain code and data that can be used for household, outdoor, underwater and other robotics) text/html 2014-11-28T12:46:53+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/robots_and_the_internet?rev=1417178813&do=diff Tutorial on "Robots and the Internet" This tutorial was given at the 2013 LUCIA Winter School on “AI and Robotics” in Örebro, Sweden. This page describes the practical examples complementing the presentation; the slides can be found [here]. This page has not been updated to the new, catkin-based version of KnowRob. Some packages used by the instructions below, such as opencyc, are not available in this version. text/html 2014-11-28T17:48:59+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/semantic_map_editor?rev=1417196939&do=diff Semantic map editor This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found here. The editor is designed as a simple graphical tool to facilitate the creation and debugging of semantic maps. It can load and export OWL descriptions of semantic environment maps and allows to create, delete, and modify the object… text/html 2014-11-26T20:20:03+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/semantic_map_to_owl?rev=1417033203&do=diff The SemanticMapToOWL service The SemanticMapToOWL node offers a service for generating an OWL representation of a semantic map from a SemMap message (see msg folder) which is a list of objects with their types, dimensions, poses, and parent objects. This representation is transformed into an OWL representation that is compatible to the files in the ias_semantic_map directory. text/html 2014-11-27T17:05:42+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/srdl2_tutorial?rev=1417107942&do=diff Semantic Robot Description Language This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found text/html 2021-02-18T08:17:18+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/useful_links?rev=1613636238&do=diff Useful links The following list contains links to related sources of information and to the documentation of the programs and libraries that are used in KnowRob. SWI Prolog * Manual: <http://www.swi-prolog.org/pldoc/refman/> * Semantic Web library: <http://www.swi-prolog.org/pldoc/package/semweb.html> OWL tools and libraries * Protege OWL editor: text/html 2014-12-07T07:16:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/web_visualization?rev=1417936616&do=diff Web-based visualization tools This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The older version, which was based on the rosbuild buildsystem and rosjava_jni, used a local visualization canvas implemented in Java. KnowRob comes with a range of web-based visualization tools for different kinds of information. All of these tools are accessible from within the knowledge base via Prolog predicates that send the data to … text/html 2014-11-27T15:24:58+00:00 Anonymous (anonymous@undisclosed.example.com) https://knowrob.org/doc/writing_an_interface_to_your_perception_system?rev=1417101898&do=diff Write an interface to your perception system This page describes the 'catkinized' version of KnowRob that uses the catkin buildsystem and the pure Java-based rosjava. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni, can be found